#include <iostream>

#include <two_wheel_differential.h>

int main() {
  float vr= -0.3;
  float vl= -0.3;
  float length = 0.2;
  auto v_vw = TransWheel2VW({vr,vl},length);
  auto v_vr = TransWheel2VR({vr,vl},length);
  auto v_rl = TransWR2Wheel(v_vr, length);
  std::cout<< " v = "<<v_vw.v << ", w = "<<v_vw.w << std::endl;
  std::cout<< " w = "<<v_vr.w << ", r = "<<v_vr.r << std::endl;
  std::cout<< " vr = "<<v_rl.right << ", vl = "<<v_rl.left << std::endl;
  return 0;
}
